Design and Control of a Bio-Inspired Quadruped Robot Using Soft Actuators

Abstract

This paper presents the design and control methodology of a bio-inspired quadruped robot built using soft actuators. Drawing inspiration from natural locomotion in animals, the robot incorporates flexible materials and biomimetic gaits to navigate complex terrains efficiently. The soft actuators enable safe interactions with the environment and offer compliance and adaptability. This research integrates mechanical design, material selection, sensor-actuator interfacing, and advanced control strategies such as Central Pattern Generators (CPG) and Reinforcement Learning (RL) for gait optimization. Results demonstrate promising mobility, stability, and adaptability, making it suitable for exploration, surveillance, and medical applications.

Keywords: soft robotics, mechatronic system design, gait control, biomimicry, soft actuators, quadruped locomotion, bio-inspired robotics